Intelligent robust control system for motorcycle using soft computing optimizer
First Claim
1. A method for optimizing a knowledge base in a soft computing controller for maneuvering a motorcycle, comprising:
- selecting a fuzzy model by selecting one or more parameters, said one or more parameters comprising at least one of a number of input variables, a number of output variables, a type of fuzzy inference model, and a teaching signal;
optimizing linguistic variable parameters of a knowledge base according to said one or more parameters to produce optimized linguistic variables according to a teaching signal obtained from a dynamic simulation model of a motorcycle and rider;
ranking rules in said rule base according to firing strength; and
eliminating rules with relatively weak firing strength leaving selected rules from said rules in said rule base;
optimizing said selected rules, using said fuzzy model, said linguistic variable parameters and said optimized linguistic variables, to produce optimized selected rules.
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Abstract
A Soft Computing (SC) optimizer for designing a Knowledge Base (KB) to be used in a control system for controlling a motorcycle is described. In one embodiment, a simulation model of the motorcycle and rider control is used. In one embodiment, the simulation model includes a feedforward rider model. The SC optimizer includes a fuzzy inference engine based on a Fuzzy Neural Network (FNN). The SC Optimizer provides Fuzzy Inference System (FIS) structure selection, FIS structure optimization method selection, and teaching signal selection and generation. The user selects a fuzzy model, including one or more of: the number of input and/or output variables; the type of fuzzy inference; and the preliminary type of membership functions. A Genetic Algorithm (GA) is used to optimize linguistic variable parameters and the input-output training patterns. A GA is also used to optimize the rule base, using the fuzzy model, optimal linguistic variable parameters, and a teaching signal. The GA produces a near-optimal FNN. The near-optimal FNN can be improved using classical derivative-based optimization procedures. The FIS structure found by the GA is optimized with a fitness function based on a response of the actual plant model of the controlled plant. The SC optimizer produces a robust KB that is typically smaller that the KB produced by prior art methods.
74 Citations
3 Claims
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1. A method for optimizing a knowledge base in a soft computing controller for maneuvering a motorcycle, comprising:
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selecting a fuzzy model by selecting one or more parameters, said one or more parameters comprising at least one of a number of input variables, a number of output variables, a type of fuzzy inference model, and a teaching signal; optimizing linguistic variable parameters of a knowledge base according to said one or more parameters to produce optimized linguistic variables according to a teaching signal obtained from a dynamic simulation model of a motorcycle and rider; ranking rules in said rule base according to firing strength; and eliminating rules with relatively weak firing strength leaving selected rules from said rules in said rule base; optimizing said selected rules, using said fuzzy model, said linguistic variable parameters and said optimized linguistic variables, to produce optimized selected rules. - View Dependent Claims (2, 3)
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Specification